High-level control of a mobile manipulator for door opening

Abstract

In this paper, off-the-shelf algorithms f o r force/torque control are used in the context of mobile manipulation (i.e. coordinated motion of a mobile robot base and the a r m mounted o n top of it). In particular, the task of opening a door is studied. To make the solution robust, as f e w assumptions as possible are made. B y using relaxation of forces as the basic level of control, more complex information can be derived f r o m the resulting motion. In our system, the radius and the centre of rotation of the door are estimated online. This enables the complete system t o have a higher degree of autonomy in a n unknown environment. In addition, the redundancy of the robot is exploited in such a way as t o drive the system towards a desired configuration. The framework of hybrid dynamic systems is used to implement the algorithm which gives a theoretically sound framework f o r analysing the system with respect t o safety and functionality. The integration of the above approaches results in a system which can robustly locate und grasp the handle und then open the door.0-7803-6348-5/00/$10.00 02000 JEEE.

Survey of Research for Performance Measurement of Mobile Manipulators

“…Peterson et al [17] and Nagatani et al [18] developed force/torque control of a mobile manipulator to open a door. Alternatively, Chitta et al [19] showed how to overcome the high-dimensionality of the planning problem by identifying a graph-based representation that was small enough for efficient planning yet contained coordinated arm and base motions to open varying type doors.…”

Adaptive Force/Velocity control for opening unknown doors1

“…In Peterson et al (2000), the recorded motion of the end-effector is used in a least-squares approximation algorithm in order to estimate the center and the radius of the motion arc while lowest level compliant control annihilates the effects of the high forces exerted due to inaccurate trajectory planning. An optimization algorithm using position of the end-effector has also been used in Kemp (2009, 2010); the algorithm obtains estimates of the radius and the center of the door trajectory and subsequently estimates of the control directions.…”

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

“…Related works on constrained manipulation in human environment often regard it as a planning problem, e.g. [5], [6], [7], [8]. These approaches require in general specific knowledge about the constraints, imposed by the manipulated objects, which makes them prone to modeling errors and uncertainties.…”